Dynamic Analysis of a Planar Parallel Robot with the Purpose of Obtaining Optimal Inertial Parameters for Energy Consumption

被引：0

作者：

Misaghi, Hooman ^{[1
]}

Mahmoudi, Ali ^{[1
]}

Masouleh, Mehdi Tale ^{[2
]}

机构：

[1] Univ Tehran, Fac New Sci & Technol, Tehran, Iran

[2] Univ Tehran, Sch Elect & Comp Engn, Human Robot Interact Lab, Tehran, Iran

来源：

2017 IEEE 4TH INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED ENGINEERING AND INNOVATION (KBEI) | 2017年

关键词：

Manipulator kinematics; Manipulator dynamics; Base inertial parameters; Energy consumption optimization; Optimal excitation trajectory;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper investigates the dynamic analysis of a 3-DOF parallel robot exhibiting planar motion pattern, by resorting to the principle of virtual work to then end of obtaining an optimal set of dynamic parameters. In order to verify the derived equations, results are compared with simulated model in MSC ADAMS. Furthermore, an optimized trajectory for excitation is calculated and the base inertial parameters are calculated. After that, an optimization method is proposed to fine-tune the robot by adding weights to the links which optimizes the energy consumption of manipulator. This optimization results in more than 50% reduction in the defined cost function on average.

引用

页码：931 / 936

页数：6

共 50 条

[21] Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control
Yang, Kun
Rong, Xuewen
Zhou, Lelai
Li, Yibin
APPLIED SCIENCES-BASEL, 2019, 9 (09):
[22] Identification of the dynamic parameters of the C5 parallel robot
Achili, B.
Daachi, B.
Amirat, Y.
All-Cherif, A.
ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2008, : 67 - +
[23] Optimal Motion Planning of a Mobile Robot with Minimum Energy Consumption
Liu, Shuang
Sun, Dong
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2011, : 43 - 48
[24] On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators
Ruiz, Andres Gomez
Santos, Joao Cavalcanti
Croes, Jan
Desmet, Wim
da Silva, Maira Martins
ROBOTICA, 2018, 36 (06) : 809 - 821
[25] Energy-consumption-optimal movements of the electromechanical manipulator robot
Avetisyan, V.V.
Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 1996, (04): : 186 - 192
[26] Kinematic and Dynamic Modeling and Base Inertial Parameters Determination of the Quadrupteron Parallel Manipulator
Danaei, Behzad
Arian, Alaleh
Masouleh, Mehdi Tale
Kalhor, Ahmad
COMPUTATIONAL KINEMATICS, 2018, 50 : 249 - 256
[27] Influence of Gait Trajectory and Parameters on Energy Consumption of Hexapod Robot
Sun, Yuanxi
Zhan, Jingyang
Duan, Wenbo
Bai, Long
Zheng, Jia
Chen, Xiaohong
2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021), 2021, : 436 - 441
[28] Analysis and Prediction of Energy Consumption in a Collaborative Robot
Miranda, Sofia
Renato Vazquez, Carlos
IFAC PAPERSONLINE, 2023, 56 (02): : 3710 - 3715
[29] OPTIMAL SYNTHESIS OF ROBOT MANIPULATORS BASED ON GLOBAL DYNAMIC PARAMETERS
SINGH, JR
RASTEGAR, J
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1992, 11 (06): : 538 - 548
[30] Energy-optimal control of unconstrained planar RR robot manipulators
John Gregory
Ana García-Bouso
Alberto Olivares
Ernesto Staffetti
TOP, 2009, 17 : 385 - 406

← 1 2 3 4 5 →